/********************************************************************************
 * Copyright 2017 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_CALIBRATION_CALIBRATION_HPP
#define RWLIBS_CALIBRATION_CALIBRATION_HPP

#include <rw/core/Ptr.hpp>
#include <rw/core/macros.hpp>

namespace rwlibs { namespace calibration {
    /** @addtogroup calibration */
    /*@{*/

    /**
     * @brief Calibration represents a kinematic correction.
     *
     * Calibrations can be applied or reverted. When applied the kinematics of the workcell will be
     * modified according to the calibration model.
     */
    class Calibration
    {
      public:
        typedef rw::core::Ptr< Calibration > Ptr;

        /**
         * @brief Default constructor
         */
        Calibration ();

        /**
         * @brief Destructor.
         */
        virtual ~Calibration ();

        /**
         * @brief Test if calibration is applied.
         * @return True if applied, false otherwise
         */
        bool isApplied () const;

        /**
         * @brief Apply calibration.
         *
         * Exception is thrown if calibration is already applied.
         */
        void apply ();

        /**
         * @brief Revert calibration.
         *
         * Exception is thrown if calibration is not applied.
         */
        void revert ();

      protected:
        virtual void doApply ()  = 0;
        virtual void doRevert () = 0;

      private:
        bool _isApplied;
    };

    /*@}*/
}}    // namespace rwlibs::calibration

#endif /* RWLIBS_CALIBRATION_CALIBRATION_HPP */
